Title :
Iconic memory-based omnidirectional route panorama navigation
Author :
Yagi, Yasushi ; Imai, Kousuke ; Tsuji, Kentaro ; Yachida, Masahiko
Author_Institution :
Inst. of Sci. & Ind. Res., Osaka Univ., Japan
Abstract :
A route navigation method for a mobile robot with an omnidirectional image sensor is described. The route is memorized from a series of consecutive omnidirectional images of the horizon when the robot moves to its goal. While the robot is navigating to the goal point, input is matched against the memorized spatio-temporal route pattern by using dual active contour models and the exact robot position and orientation is estimated from the converged shape of the active contour models.
Keywords :
image matching; image sensors; mobile robots; navigation; robot vision; dual active contour models; iconic memory; memorized spatio temporal route pattern; mobile robot; omnidirectional image sensor; omnidirectional images; omnidirectional route panorama navigation; orientation estimation; position estimation; Active contours; Active shape model; Image converters; Image sensors; Mobile robots; Navigation; Orbital robotics; Pattern matching; Robot sensing systems; Yagi-Uda antennas; Index Terms- Omnidirectional vision; active contour model.; localization; navigation; route panorama; Algorithms; Artificial Intelligence; Computer Graphics; Computer Simulation; Image Enhancement; Image Interpretation, Computer-Assisted; Information Storage and Retrieval; Memory; Numerical Analysis, Computer-Assisted; Online Systems; Orientation; Pattern Recognition, Automated; Reproducibility of Results; Robotics; Sensitivity and Specificity; Signal Processing, Computer-Assisted; Space Perception; Subtraction Technique; User-Computer Interface; Video Recording;
Journal_Title :
Pattern Analysis and Machine Intelligence, IEEE Transactions on
DOI :
10.1109/TPAMI.2005.11
